Mark Goddard, known for playing Major Don West on the CBS series “Lost in Space,” died in Hingham, Mass. on Oct. 10 of pulmonary fibrosis. He was 87.

In statement posted to Facebook, Goddard’s wife, Evelyn Pezzulich, confirmed that the actor was hospitalized with pneumonia and then transferred to a rehabilitation center, where the doctors discovered he was in the final stages of pulmonary fibrosis.

Goddard’s “Lost in Space” costar Bill Mumy also confirmed his death in a Facebook statement: “R.I.P. to Mark Goddard. A truly beloved friend and brother to me for 59 years. I knew this was coming for the past few months. Shortly after a great phone chat he and I had on his 87th birthday in late July, I became aware that I would most likely never see or speak with him again. The last words we exchanged were ‘I love you.'”

“Lost in Space,” created and produced by Irwin Allen, lasted for three seasons and spanned 83 episodes from 1965 to 1968. The series followed the Robinson family, space colonists aboard the Jupiter 2. The ship was piloted by Goddard’s character Major Don West. His character was played by Matt LeBlanc in the 1998 feature adaptation and Ignacio Serricchio in Netflix’s recent reboot of the series.

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“Mark was a truly fine actor. Naturally gifted as well as trained. I know he sometimes felt constricted by the campy frame that ‘LIS’ constrained him within, but he also embraced and loved it,” Mumy continued in his statement.

Born July 24, 1936 as Charles Harvey, Goddard was raised in the coastal town of Scituate, Mass. He attended Holy Cross but left in 1958, his junior year of college, to pursue acting.

He went on to study at the American Academy of Dramatic Arts before moving to Hollywood in 1959, where he appeared in Four Star Television projects “The Rifleman” and TV movie “Woman on the Run,” starring Joan Crawford and directed by Dick Powell. He continued working on Four Star projects, taking on roles in “Johnny Ringo” and “The Detectives.” After appearing on episodes of numerous other TV shows, Goddard then joined “Lost in Space.”

During his time on “Lost in Space,” Goddard also appeared in films “The Monkey’s Uncle” and “A Rage to Live” in 1965, as well as “The Love-Ins” in 1967. Following the series ending, Goddard went on to work on soap operas “One Life to Live” and “General Hospital” and was featured in the 1977 film “Blue Sunshine.”

After completing his college education and earning a master’s degree, Goddard taught children with special educational needs for over 20 years in Massachusetts.

He is survived by his wife, Evelyn, and daughter, producer Melissa Goddard.